Systems and Methods For Remote Unmanned Raman Spectroscopy

Abstract

A Raman spectroscopy sensor integrated with an unmanned ground vehicle (UGV) includes a UGV having a robot arm and a camera mounted on the robot arm. A laser and telescope associated with a Raman sensor are mounted on the robot arm in such a way as to point in substantially the same direction in which the camera is pointed. A Raman spectral data acquisition and control module is mounted on the UGV and is configured to receive Raman spectral data from the telescope. A remote base station having a display and a data processing and analysis module is configured to receive data from the data acquisition and control module and to display for an operator images from the camera and information related to the Raman sensor. An autofocus system is preferably employed to automatically control telescope focus and thereby enable the Raman sensor to operate over a wide range, e.g., 0.5 m to 10 m.

Description

[0001]This application claims the benefit of U.S. Provisional Application No. 60 / 982,306 filed Oct. 24, 2007, which is herein incorporated by reference in its entirety.FIELD OF THE INVENTION[0002]The present invention is related to Raman spectroscopy, and more particularly to systems and methods for integrating Raman spectroscopy functionality with an unmanned ground vehicle, such as a robot.BACKGROUND OF THE INVENTION[0003]The danger of exposure to chemical or biological agents can be severe. Whether a result of unintended release, by way of, e.g., an accident, or intentional delivery, it is desirable to quickly and accurately identify (1) the type of agent that has been released and (2) the precise area of contamination. Early and accurate detection of such dangerous substances can be a significant factor in reducing potential casualties and limiting further spreading of the agent, e.g., by wind, human and animal contact, etc.[0004]In recent years, there has been an increased inte...

AI Technical Summary

Benefits of technology

[0010]The present invention provides a unique implementation of a Raman spectroscopy sensor in which components of the system are mounted on, or, more preferably, closely integrated with, an unmanned ground vehicle (UGV) or robot that operates autonomously or that is controlled by a remote user. With this type of configuration, users of the Raman sensor can avoid having to be in the vicinity of dangerous substances or items. More particularly, with embodiments in accordance with the present invention, personnel are provided the capability to perform remote yet sensitive site exploitation including inspection of buildings, equipment, vehicles, aircraft, and other manmade or natural surfaces for the presence of unknown substances or items including, but not limited to, explosive material (e.g., TNT and RDX), homemade explosives and their precursors, and chemicals including chemical warfare agents (CWAs), and toxic industrial chemicals (TICs). One significant advantage of embodiments of the present invention is the ability to search for and detect improvised explosive devices (IEDs) without having to place people in the same location in which explosives might be hidden.

[0011]Other advantages of embodiments of the present invention include the fact that the technology (1) is non-contact (i.e., it is a standoff system), (2) allows mapping of the surface contamination, and (3) provides quick response (typically only seconds to perform detection).

[0012]In an embodiment, the present invention provides a UGV that includes a robot arm that may be steerable on its own or by way of steering the UGV itself. The UGV is preferably remotely controlled through a radio frequency (RF) link. The robot arm preferably includes a camera, and images from the camera are preferably streamed (over the RF link) back to a control station from which an operator can control the UGV. In this way, the operator can appropriately steer the UGV and point the camera towards targets of interest.

[0015]In a preferred embodiment, an automatic telescope focusing mechanism is implemented that operates effectively even within constraints set by the limited space and weight allowance on the robot arm.

Problems solved by technology

The danger of exposure to chemical or biological agents can be severe.

Prior technologies designed to measure surface-deposited chemical contamination used vehicles and associated test equipment that retrieved a physical sample of the contaminant and then used an extremely cumbersome and time-consuming process based on a mechanical sampling wheel system to test for chemical agents.

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